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hi all, i used rtabmap to created 3d map from environment. i used stereo camera for this. my question is that, in rtabmap, How is the 3D map created for stereo camera? it is feature based or area based? in other words, What is a 3D map creating theory? thanks


Originally posted by zahra.kh on ROS Answers with karma: 21 on 2018-07-13

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Comment by jayess on 2018-07-23:
@zahra.kh you have a lot of questions with answers but you haven't marked them as correct, can I ask that you please go through your questions and do so to the ones that solved your problem? This will let future users know what worked. Specifically #q282985 and #q282399

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For each node, a disparity image is created using cv:StereoBM(), then projected to create a cloud. The clouds are then assembled the same way than clouds created from RGB-D cameras.


Originally posted by matlabbe with karma: 6409 on 2018-07-23

This answer was ACCEPTED on the original site

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